EP2868955B1 - Tensioner for controlled clamping and advancement of an elongate body, in particular for a facility for laying pipelines, umbilicals or cables - Google Patents

Description

TECHNICAL FIELD TO WHICH THE INVENTION REFERS

The present invention relates to a tensioner for controlled tightening and advancement of an elongate body, adapted in particular for equipping an installation for removing pipelines, umbilicals or cables.

BACKGROUND

Some facilities are designed to allow the removal of elongate bodies on a receiving surface, including flexible or rigid cables, umbilicals or pipe-lines.
This type of installation is particularly common on vessels equipped for the removal of cables, umbilicals or pipelines along the ocean floor.

Such dispensing installations generally comprise an equipment called a tensioner ensuring a clamping support of the elongate body and its progress to allow removal in a controlled manner.

Specifically, a primary role of the stretcher is to constantly tighten the cable, umbilical or pipeline in an efficient manner, taking into account that the weight of the elongated body part that is transferred out of the ship increases significantly as it is removed.

The second role of the tensioner is to operate the elongated body to ensure its longitudinal movement in a controlled manner. The rate of removal implemented depends on several parameters, including the relief of the receiving surface; this speed of removal also depends on the time required for the assembly of the portions of the cable, umbilical or pipe-line, this assembly being generally performed directly on the ship, at the very moment of removal operations.

To meet these constraints, the tensioners conventionally comprise a frame carrying a plurality of guide boxes which are movable perpendicularly to the axis of the elongate body and which are connected to a jack system, to ensure the desired clamping throughout the assembly. laying of the elongated body.

Such tensioners are for example described in the documents FR-2 953 579 , GB-2,199,632 and WO-96/00359 .

But cables, umbilicals or pipe-lines frequently have sectional variations along their length, particularly related to the presence of weld seams made to assemble the various constituent sections (causing diameter defects generally of the order of 15 mm), or due to repairs carried out in the event of damage (in this case, the diameter variations can reach 40 mm, because of the overlay of repairs reported).

Due to these section variations, the clamping force applied by the current tensioners can change during the removal guide, and sometimes be too high or too low.

On the other hand, the tight portion of the body is not always optimally centered within the tensioner, creating differences in effort between the guide boxes.

Furthermore, there is also a problem with the current tensioners in the case of a power supply cutoff.
Indeed, in this context, the boxes are immobilized relative to each other, while the associated body is likely to exert further significant efforts on one or the other of said boxes.

OBJECT OF THE INVENTION

In view of these problems, the Applicant has developed a new tensioner structure that is able to ensure effective tightening of the elongated member throughout its removal, that by a proper care regardless of its section variations.

The corresponding tensioner is also of interest to maintain and allow some adjustment of the clamping on the associated elongate body, in case of a power supply failure.

1. (i) au moins un actionneur linéaire comportant un vérin de manoeuvre prolongé par des moyens ressorts, lequel vérin de manoeuvre et lesquels moyens ressorts présentent chacun un axe longitudinal d'allongement, lesdits axes d'allongement étant orientés coaxialement, ou au moins approximativement coaxialement, l'un par rapport à l'autre pour former ensemble l'axe d'allongement dudit actionneur linéaire, et
2. (ii) des moyens programmables pour le pilotage dudit vérin de manoeuvre en allongement.

For this purpose, the operating means associated with each of the caissons of the tensioner according to the invention comprise:

1. (i) at least one linear actuator comprising an actuating cylinder extended by spring means, which operating cylinder and which spring means each have a longitudinal axis of elongation, said extension axes being oriented coaxially, or at least approximately coaxially , relative to one another to form together the axis of elongation of said linear actuator, and
2. (ii) programmable means for controlling said actuating cylinder in elongation.

A tensioner equipped with such operating means is in practice particularly effective in terms of tightening and advancement of the associated body, thanks to a stable or at least approximately stable clamping force.
This tensioner is also particularly secure, because of the improved ability to maintain the clamping in case of power supply failure.

According to a preferred embodiment, the operating cylinder or cylinders consist of electric cylinders each comprising electric motor means for the rotational operation of a screw associated with a nut carried by a rod portion.

Still preferably, the spring means consist of a cylinder-shaped spring, for example a gas spring, a spring spring metal or an elastomer spring (advantageously in the form of a jack, that is to say advantageously a jack gas cylinder, a spring cylinder or an elastomer cylinder).

According to a particularly advantageous embodiment, the linear actuator is equipped with force sensor means, for measuring at least the value of the compressive force exerted on it, along its longitudinal axis of elongation; in addition, the actuating cylinder and the spring means each comprise means of elongation sensors, for measuring the value of their respective elongations; and the programmable means control the elongation of said actuating cylinder as a function, on the one hand, of said measured compression force value and a compression force value setpoint, and on the other hand, of the value of the compression force. elongation of the linear actuator measured by said elongation sensors.

Such a structure aims to further optimize the operation of the tensioner in terms of tightening the associated elongate body; it also promotes the centering of the elongate body section in the tensioner.

In this case, the tensioner advantageously comprises at least two boxes arranged opposite, distributed around its axis of symmetry; and the programmable means associated with said facing boxes control the elongation of their operating cylinders also according to the elongation value of said linear actuators opposite.
In addition, the programmable means advantageously control the elongation of the actuating cylinders opposite so that the elongation value of the linear actuators opposite is identical or at least approximately the same.

In addition, the elongation sensor means equipping the spring means preferably consist of a linear encoder.
And in the case of operating cylinders consisting of electric cylinders, the elongation sensor means equipping said one or more cylinders are each advantageously in the form of a rotary encoder.

• les vérins de manoeuvre ont chacun une longueur de course qui est supérieure à la longueur de course des moyens ressorts ;
• les actionneurs linéaires sont fixés chacun sur le châssis de tensionneur et sur l'un des caissons de guidage, et ils sont orientés de sorte que leur vérin de manoeuvre soit solidarisé avec ledit châssis de tensionneur, et de sorte que leurs moyens ressorts soient solidarisés avec l'un desdits caissons de guidage ;
• le tensionneur est agencé de sorte que son axe de symétrie soit orienté verticalement, ou au moins sensiblement verticalement ;
• les caissons, au moins au nombre de 2 (par exemple au nombre de 2, 3 ou 4), sont équipés chacun d'au moins une chaîne de guidage.

Other advantageous features of the invention are further presented below:

• the actuating cylinders each have a stroke length which is greater than the stroke length of the spring means;
• the linear actuators are each fixed on the tensioner frame and on one of the guide boxes, and they are oriented so that their actuating cylinder is secured to said stretcher frame, and so that their spring means are secured to one of said guide boxes;
• the tensioner is arranged so that its axis of symmetry is oriented vertically, or at least substantially vertically;
• the boxes, at least 2 in number (for example 2, 3 or 4), are each equipped with at least one guide chain.

DETAILED DESCRIPTION OF AN EXEMPLARY EMBODIMENT

• la figure 1 est une vue générale et en perspective d'un tensionneur selon l'invention ;
• la figure 2 est une vue en perspective de l'un des caissons de guidage équipant le tensionneur de la figure 1, et de ses moyens de manoeuvre en translation ;
• la figure 3 est une vue en perspective d'un actionneur linéaire constitutif des moyens de manoeuvre des caissons selon les figures 1 ou 2 ;
• la figure 4 est une vue de côté de l'actionneur linéaire de la figure 3, avec un plan de coupe longitudinal ;
• la figure 5 représente l'actionneur linéaire selon les figures 3 et 4, selon deux configurations différentes : d'une part, avec le vérin de manoeuvre rétracté et les moyens élastiques ressorts déployés, sur la figure 5 A (vu de côté et selon un plan de coupe longitudinal), et d'autre part, avec le vérin de manoeuvre déployé et les moyens ressorts rétractés, sur la figure 5 B (vu de côté) ;
• la figure 6 montre deux caissons de guidage en regard, respectivement en configuration écartée (figure 6 A) et en configuration rapprochée (figure 6 B).

The invention will be further illustrated, without being limited in any way, by the following description of a particular embodiment, given solely by way of example, and shown in the accompanying drawings in which:

• the figure 1 is a general perspective view of a tensioner according to the invention;
• the figure 2 is a perspective view of one of the guide boxes equipping the tensioner of the figure 1 , and its translation maneuvering means;
• the figure 3 is a perspective view of a linear actuator constituting the means of maneuvering the boxes according to the Figures 1 or 2 ;
• the figure 4 is a side view of the linear actuator of the figure 3 , with a longitudinal section plane;
• the figure 5 represents the linear actuator according to the Figures 3 and 4 according to two different configurations: on the one hand, with the retracted actuating cylinder and the elastic spring means deployed, on the figure 5 A (seen from the side and according to a longitudinal sectional plane), and secondly, with the actuating cylinder deployed and the retracted spring means, on the figure 5 B (seen from the side);
• the figure 6 shows two guide boxes opposite, respectively in a separated configuration ( figure 6 A ) and in close configuration ( figure 6 B ).

The tensioner 1, shown on the figure 1 , is particularly suitable for equipping an installation for the removal of pipelines, umbilicals or cables, intended to be carried by a ship or off-shore platform (not shown).

This tensioner 1 comprises a frame 2 which is provided with means for its attachment to the deck of the ship or off-shore platform; this frame 2 carries guide boxes 3 which are arranged around an axis of symmetry 4 and which are intended to tighten a length section of the pipeline (or umbilical or cable) to be deposited.

According to the laying method, the tensioner 1 is positioned so that its axis of symmetry 4 is oriented (i) vertically or substantially vertically, or (ii) horizontally or at least substantially horizontally.

On the figure 1 the guiding casings 3 are four in number.

Depending on the design of the tensioner 1, the guide boxes 3 can also be two or three or more.

Within the tensioner 1, the guide boxes 3 are optionally distributed in two pairs, which extend in two perpendicular and intersecting planes at a line coinciding with the axis of symmetry 4.

As shown on the figure 2 , The guide box 3, of conventional structure, each comprising an elongate support body 3 has, on which is guided in translation one peripheral guide channel 3b driven by at least one motorized wheel 3 c.
As can be seen on the figure 6 , A strand prior to this peripheral line 3b extending parallel to the axis of symmetry 4, to form the contact surface with a section of the body to be deposited.

The support body 3 has the guide box 3 is mounted on the chassis 2 by means of actuating means ensuring the driving in translation caissons 3 parallel to themselves and along a direction perpendicular to the axis of symmetry 4 of the tensioner 1.

The operating means associated with each of the caissons 3 comprise (i) linear actuators 5 ( figure 2 ), ensuring the displacement in translation of the boxes 3, and (ii) control means (not shown) for controlling said actuators 5 and said boxes 3 associated.

More precisely and as represented on the figure 2 , Each well 3 is associated with a set of four linear actuators 5, distributed in pairs on either side of the support body 3 a.
These linear actuators 5 are not represented on the figure 1 , for the sake of simplification.

These different actuators 5 have an identical structure, as described below in relation to the Figures 3 and 4 .

As can be seen from these Figures 3 and 4 each linear actuator 5 is constituted (i) by an actuating jack 6, extended (ii) by spring means 7.

The actuating cylinder 6 and the associated spring means 7 respectively have a longitudinal axis of extension 6 'and 7'. These extension axes 6 'and 7' are oriented coaxially, or at least approximately coaxially with respect to one another, to form together the general axis of elongation 5 'of the linear actuator 5.

The maneuvering cylinder 6 is here an electric jack comprising electrical motor means 6a for driving in rotation of a maneuvering screw 6 b, preferably a planetary roller screws, associated with a movable rod member 6 c via a satellite nut 6 d .

Such an electric cylinder can be chosen from those proposed in the trade. It advantageously has a thrust force (and / or traction) greater than or equal to 250 kN, with a stroke greater than or equal to 250 mm.
On the other hand, the motor means 6 a may include a low-power reduction and / or a reduction in both directions of rotation.
This electric jack 6 is still advantageously chosen from those comprising two elongation speeds: (i) a slow clamping speed, for example over 50 mm, and (ii) a fast approach speed, corresponding for example to a speed of two times higher than that of the aforementioned clamping speed.

The spring means 7 advantageously consist of a device provided with elastic means to enable it to return to its original shape when the deformation bias is stopped, advantageously in the form of a spring-action cylinder (or return spring).

The spring means 7 are advantageously chosen from cylinder-shaped springs, that is to say preferably compression-tension springs of the gas-type, metal-spring type or elastomer type.

These spring means are furthermore advantageously chosen from those available commercially, and which have a linear stiffness over a stroke of between 50 and 150 mm, and preferably a linear stiffness over a stroke of the order of 100 mm.

Preferably, the stiffness of these spring means 7 is chosen with a capacity greater than or equal to 250 kN.

The two elements 6 and 7 constituting the linear actuator 5, are juxtaposed and joined together in combination with fixing means (for example bolting type).
Specifically, the spring means 7 are here carried by the movable portion 6c of the actuating cylinder 6.

1. (i) une première extrémité 5a, constituée par l'extrémité libre du vérin de manoeuvre 6 (à l'opposé des moyens ressorts 7), comportant des moyens pour sa solidarisation avec le châssis de tensionneur 2, par exemple constitués par les tourillons du vérin, et
2. (ii) une seconde extrémité 5b, constituée par l'extrémité libre des moyens ressorts 7 (à l'opposé du vérin de manoeuvre 6), comportant des moyens 5b pour sa solidarisation avec le caisson 3 associé (et en particulier son corps support 3a), par exemple sous la forme d'un axe instrumenté (indiquant l'effort appliqué par le vérin).

The linear actuator 5 thus constituted comprises:

1. (i) a first end 5 a, formed by the free end of the maneuvering jack 6 (opposite spring means 7), comprising means for its securing to the frame of tensioner 2, for example constituted by the pins the cylinder, and
2. (ii) a second end 5b , formed by the free end of the spring means 7 (opposite the actuating jack 6), comprising means 5b for securing it to the associated casing 3 (and in particular its body support 3 a ), for example in the form of an instrumented axis (indicating the force applied by the jack).

For optimum control of the clamping action of the boxes 3 on the associated elongated body, a set of sensor means are provided for the measurement of physical quantities at the associated linear actuators 5.
At least one of the linear actuators 5 associated with each box 3 is equipped with such sensor means. But, preferably, all the linear actuators 5 are equipped with these sensor means.

1. (i) des moyens pour le contrôle de couple moteur équipant les moyens moteurs 6a du vérin électrique 6, et/ou
2. (ii) des moyens capteurs d'effort, par exemple de type cellule de charge, qui sont installés au niveau de son extrémité 5b destinée à être associée à l'un des caissons 3.

Firstly, the linear actuator 5 is equipped with force sensor means, for measuring the amount of compressive force, and possibly tensile force, which is exerted on it in a direction oriented coaxially with its longitudinal axis of elongation. 5 'and generated by the body resting on the associated casing 3.
These force sensor means (not shown) are advantageously chosen from:

1. (i) means for the engine torque control fitted to the motor means 6 has the electric cylinder 6, and / or
2. (ii) force sensing means, for example of the load cell type, which are installed at its end 5b intended to be associated with one of the caissons 3.

The motor torque control means consist, for example, of means for measuring the electric current in the motor.

The force sensing means consist, for example, of a device of the strain gage type, in this case in the form of an instrumented axis.

These force sensor means make it possible to obtain a value of compression (and / or traction) exerted on the actuator, advantageously expressed in newtons.

On the other hand, the linear actuator 5 is further equipped with elongation sensor means for measuring the value of its elongation along the longitudinal axis 5 '.

More precisely, the actuating cylinder 6 and the spring means 7 each comprise their own elongation sensor means, for measuring the value of their respective elongation and the total elongation value of the actuator 5.

The elongation sensor means equipping the electric jack 6 advantageously consist of a rotary encoder 10 which is associated with the screw 6b . It may be for example an absolute rotary encoder.

The elastic spring means 7 are themselves equipped with a linear encoder 11 which is chosen for example from absolute magnetic tape encoders, cable displacement sensors, or capacitive displacement sensors.

The programmable means (not shown) are connected to the linear actuators 5 and their different sensor means, so as to ensure optimal control of the boxes 3, in particular in terms of clamping on the guided body.

1. (i) d'une part, de la valeur de la force de compression mesurée par les moyens capteurs de force précités et tenant compte d'une consigne de valeur de force de compression,
2. (ii) d'autre part, de la valeur d'allongement de l'actionneur linéaire 5 mesurée par les capteurs d'allongement 10 et 11.

These programmable means comprise means for controlling the extension of the actuating cylinder 6 as a function of:

1. (i) on the one hand, the value of the compression force measured by the above-mentioned force sensor means and taking into account a compression force value setpoint,
2. (ii) on the other hand, the elongation value of the linear actuator 5 measured by the elongation sensors 10 and 11.

These suitably configured programmable means are intended to ensure an optimum clamping force of the boxes 3 on the pipeline (or umbilical or cable), and to correctly adjust the position of the pipe section with respect to the axis of symmetry 4 of the tensioner 1. They also make it possible to keep the constant force between the different cylinders.

In practice, the compression force value setpoint is adjusted and chosen so as to be advantageously in the middle, or in a predetermined intermediate position, of the linear stiffness race of the elastic spring means 7.

In parallel with this adjustment of the tightening of the caissons 3 on the pipeline (or umbilical or cable), the structure of the tensioner 1 makes it possible to know at any time the elongation value of each linear actuator 5.
This functional feature allows the programmable means to control the elongation of the actuating cylinders 6 so that the linear actuators 5 associated with the caissons 3 opposite present elongation values identical, or at least approximately identical.

The figure 5 illustrates the movements of the two elements 6 and 7 constituting the linear actuator 5 described above.
The jack 6 is operated in retraction ( figure 5 A ) and in elongation ( figure 5 B ) by the programmable means, along its longitudinal axis of elongation 6 '.
The spring means 7 are autonomous with respect to the programmable means; they undergo phenomena of lengthening ( figure 5 A ) and retraction ( figure 5 B ) as a function of the compressive force exerted on the linear actuator 5 along its longitudinal axis 5 '.

An example of implementation of two caissons 3 opposite is illustrated schematically in relation to the figure 6 , for tightening a pipe-line A (or umbilical or cable).

The first stage of operation consists of a tightening phase of the pipeline A.

For this purpose, each rotary motor 6 has linear actuators 5 is actuated in rapid speed to ensure the deployment of the electric jack 6 (as shown in FIG. figure 5 B ) and to make the first millimeters of approach to the pipeline A. When the caissons 3 arrive at a few millimeters from the point of impact, the engines 6 has pass in slow speed.
At the moment of impact, the spring means 7 are compressed (as shown in FIG. figure 5 B ), until the measured compression force value reaches the predetermined set value.
If this set value is reached, the programmable means controls engine shutdown 6a and lock into position.
The tightening on the section of pipe-line A is then complete and suitable ( figure 6 B ).

Since this tight configuration of the caissons 3 on the pipeline A , it then goes into a so-called phase of regulation and controlled progress of the pipeline.
The driving chains 3 c of the caissons 3 are therefore actuated to ensure the controlled translation of the pipeline A , as illustrated by the arrow F on the figure 6 B.
If the section of the pipeline A varies between the two boxes 3, the resilient spring means 7 is compressed or deployed, thus maintaining a regular clamping force on the elongate body A during travel.

In the case where the compressive force value reaches a maximum or minimum threshold value, the programmable means restarts the motor 6 is of the electric 6 corresponding cylinders at low speed, respectively for their retraction or deployment to a distance sufficient to find the compression force value setpoint.

In this regulation phase, the caissons 3 are also maneuvered so as to maintain an optimal centering of the pipeline A relative to the general axis 4 of the tensioner 1.
For this, the programmable means control the elongation of the actuating cylinders 6 so that the elongation value of the linear actuators 5 associated with the caissons 3 opposite are identical or at least approximately identical.

Of course, a similar control is implemented on the two other caissons 3 constituting the tensioner 1.

In the case of a control shutdown of the linear actuators 5 (power supply failure, failure of the control means, etc.), the resilient spring means 7 make it possible to preserve a possibility of variation in length at the caissons 3. , thus able to limit up to a certain level the compression efforts exerted on the latter.

The tensioner according to the invention proves particularly effective for ensuring controlled tightening and advancement of a body having sectional variations. It also provides a safety function, by maintaining a tightening on the elongated body during removal, in the case of an unwanted stop of the control of the associated actuators.

Claims (10)

1. A tensioner for the controlled clamping and moving of an elongated body (A), in particular for an installation for laying pipelines, umbilicals or cables, which tensioner (1) comprises a frame (2) carrying at least two guiding boxes (3) that are arranged about an axis of symmetry (4), for clamping a segment of said elongated body (A), which guiding boxes (3) are mounted mobile on said frame (2) through operating means (5) arranged so as to ensure their translational control, on the one hand, parallel to each other, and on the other hand, according to a direction oriented perpendicular to said axis of symmetry (4),
   characterized in that said operating means (5) associated with each of said boxes (3) comprise:

   (i) at least one linear actuator (5) including an operating cylinder (6) extended by spring means (7), which operating cylinder (6) and which spring means (7) each have a longitudinal extension axis (6', 7'), said extension axes (6', 7') being oriented coaxially, or at least approximately coaxially, relative to each other, so as to form together the extension axis (5') of said linear actuator (5), and

   (ii) programmable means for controlling said operating cylinder (6) in extension.
2. The tensioner according to claim 1, characterized in that the operating cylinder(s) (6) consist in electric cylinders each including electric motor means (6a) for the rotational operation of a screw (6b) associated with a rod part (6c) through a nut (6d).
3. The tensioner according to any one of claims 1 or 2, characterized in that the one or more spring means (7) consist in a cylinder-shaped spring.
4. The tensioner according to any one of claims 1 to 3, characterized in that the linear actuator(s) (5) are equipped with force sensor means, to measure at least the value of the compression force exerted on said linear actuator (5), in that the operating cylinder(s) (6) and the spring means (7) each include extension sensor means (10, 11) to measure the value of their respective extension, and in that the programmable means control the extension of each operating cylinder (6) as a function, on the one hand, of said measured compression force value and of a compression force set-value, and on the other hand, of the extension value of the linear actuator (5) measured by said extension sensors (10, 11).
5. The tensioner according to claim 4, characterized in that it includes at least two boxes (3) arranged opposite to each other, distributed about its axis of symmetry (4), and in that the programmable means associated with the opposite boxes (3) control the extension of their operating cylinders (6) as a function also of the extension value of the opposite linear actuators (5).
6. The tensioner according to claim 5, characterized in that the programmable means control the extension of the opposite operating cylinders (6) so that the extension values of the opposite linear actuator (5) are identical or at least approximately identical.
7. The tensioner according to any one of claims 4 to 6, characterized in that the extension sensor means (11) equipping the spring means (7) consist in a linear encoder.
8. The tensioner according to any one of claims 4 to 7, taken in combination with claim 2, characterized in that the extension sensor means (10) equipping said operating cylinder (6) consist in a rotational encoder associated with its screw (6b).
9. The tensioner according to any one of claims 1 to 8, characterized in that the operating cylinders (6) each have a stroke length that is higher than the stroke length of the spring means (7).
10. The tensioner according to any one of claims 1 to 9, characterized in that the linear actuators (5) are each fixed on the frame (2) and on one of the guiding boxes (3), which actuators (5) are oriented so that their operating cylinder (6) is fastened to said frame (2) and so that their elastic spring means (7) are fastened to one of said guiding boxes (3).

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